We have a 24' fifth wheel and a Lance truck camper. We snowbird in the fifth wheel for three months every winter and use the truck camper for our summer travel. BTW, it's not the least bit dangerous to leave your hitch hanging from the trailer, but we never did it that way. We purchased an Andersen Rail Mount hitch which weighs 41 pounds. It's easy to install and remove and can be carried with one hand. We use foam board and a rubber mat to level the floor over the rails for the truck camper.
We wouldn't want to live for three months in a truck camper during the winter, and I don't like the complexities of towing a fifth wheel for our many shorter trips during the summer months when there's more traffic, more parking, more stops and so on, so this works great for us. Sure, it takes a little more time and work, but I've got plenty of time, and a little work never hurt anybody (or so I've been told).